SMC Networks LECSB Series User manual

PRODUCT NAME
AC Servo Motor Driver
MODEL/ Series
LECSB Series
Doc. no. JXC
※
-OMT0021-B

A -1
LECSB□-□Series / Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)
*1), and other safety regulations.
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218: Manipulating industrial robots -- Safety
etc.
Caution Caution indicates a hazard with a low level of risk
which, if not avoided, could result in minor or
moderate injury.
Warning Warning
indicates a hazard with a medium level of risk which, if not avoided, could result in death
or serious injury.
Danger Danger indicates a hazard with a high level of ris
k which, if not avoided, will result in death or
serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring the
equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to prevent
falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions of
all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Co
ntact SMC beforehand and take special consideration of safety measures if the product is to be
used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and lock circuits in press applications, safety equipment or other
applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.

A -2
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Prohibition
Indicates what must not be done. For example, "No Fire" is indicated by
Compulsion
Indicates what must be done. For example, grounding is indicated by
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on
are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

A -3
LECSB□-□Series / Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications or a
contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.*3)
Also, the product may have specified durability, running distance or replacement parts. Please consult
your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred
due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in
the specified catalog for the particular products.
*3) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry
(Foreign Exchange and Foreign Trade Control Law).

A -4
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit
30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( )
(L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the driver, whether the charge lamp is off or
not.
Connect the driver and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, you may get
an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover. You may get an electric shock.
Do not operate the driver with the front cover removed. High-voltage terminals and charging area are
exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The driver is
charged and you may get an electric shock.
2. To prevent fire, note the following
CAUTION
Install the driver, servo motor and regenerative resistor on incombustible material. Installing them directly
or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3of the
driver, and configure the wiring to be able to shut down the power supply on the side of the driver power
supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when
the driver malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the driver, and servo motor.
Always connect a no-fuse breaker to the power supply of the driver.

A -5
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the driver heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or
for some time after power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the driver. The driver may drop.
Install the driver in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The driver and servo motor must be installed in the specified direction.
Leave specified clearances between driver and control enclosure walls or other equipment.
Do not install or operate the driver and servo motor which has been damaged or has any parts missing.
Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan. Doing so
may cause faults.
Do not drop or strike driver or servo motor. Isolate from all impact loads.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

A -6
CAUTION
When you keep or use it, please fulfill the following environmental conditions.
Item
Environmental conditions
Driver
Servo motor
Ambient
temperature
In
operation
[ ]
0 to 55 (non-freezing)
0 to 40 (non-freezing)
[ ]
32 to 131 (non-freezing)
32 to 104 (non-freezing)
In storage
[ ]
20 to 65 (non-freezing)
15 to 70 (non-freezing)
[ ]
4 to 149 (non-freezing)
5 to 158 (non-freezing)
Ambient
humidity
In operation
90%RH or less (non-condensing)
80%RH or less (non-condensing)
In storage
90%RH or less (non-condensing)
Ambience
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280 ft) above sea level
(Note)
Vibration [m/s2] 5.9 or less at 10 to
55Hz (directions of
X, Y and Z axes)
LECS□□-S5
LECS□□-S7
LECS□□-S8
series
X, Y: 49 m/s2
Note. Except the servo motor with reduction gear.
When the equipment has been stored for an extended period of time, contact your local sales office.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) : Mitsubishi Electric
Corporation) between the servo motor and driver.
Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor.
Not doing so may cause unexpected operation.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
U
Servo motor
M
V
W
U
V
W
Servo amplifier
(drive unit)
U
M
V
W
U
V
W
Servo motor
Servo amplifier
(drive unit)
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
Driver
Driver

A -7
CAUTION
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output
signal DICOM
24VDC
Servo amplifier
(drive unit)
RA
For sink output interface
DOCOM
Control output
signal DICOM
24VDC
Servo amplifier
(drive unit)
RA
For source output interface
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the driver is off to prevent an accident. A
sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the driver.
Burning or breaking a driver may cause a toxic gas. Do not burn or break a converter unit and driver.
Use the driver with the specified servo motor.
The lock on the servo motor is designed to hold the motor shaft and should not be used for ordinary
braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are
coupled via a timing belt), the lock may not hold the motor shaft. To ensure safety, install a stopper on the
machine side.
Driver Driver

A -8
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with a lock or an external lock mechanism for the purpose of prevention.
Do not use the 24VDC interface for the lock. Always use the power supply designed exclusively for the lock.
Otherwise, a fault may occur.
Configure a lock circuit so that it is activated also by an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the driver will deteriorate. To prevent a secondary accident due to a
fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment. Please contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
Lock
Lock
Contacts must be opened when ALM (Malfunction) and
MBR (Electromagnetic brake interlock) turns off.
Refer to section 3.11.4 when wiring for the circuit configuration.

A -9
DISPOSAL OF WASTE
Please dispose a driver battery (primary battery) and other options according to your local laws and regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the
total number of the following operations exceeds 100,000, the converter unit, driver and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
SMC will not be held liable for damage caused by factors found not to be the cause of SMC; machine
damage or lost profits caused by faults in the SMC products; damage, secondary damage, accident
compensation caused by special factors unpredictable by SMC; damages to products other than SMC
products; and to other duties.
COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES
Refer to Appendix 9 for the compliance with EC Directives.
COMPLIANCE WITH UL/C-UL STANDARD
Refer to Appendix 10 for the compliance with UL/C-UL standard.
<<About the manuals>>
This Instruction Manual are required if you use the General-Purpose AC servo LECSB□-□for the first time.
Always purchase them and use the LECSB□-□safely.
<<Wiring>>
Wires mentioned in this instruction manual are selected based on the ambient temperature of 40 (104 ).

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -13
1.1 Summary..................................................................................................................................................1 - 2
1.2 Function block diagram............................................................................................................................1 - 3
1.3 Driver standard specifications..................................................................................................................1 - 4
1.4 Function list ..............................................................................................................................................1 - 5
1.4.1 Applicable control mode for each actuator.......................................................................................1 - 7
1.5 Model code definition...............................................................................................................................1 - 8
1.6 Combination with servo motor................................................................................................................1 -10
1.7 Structure..................................................................................................................................................1 -11
1.7.1 Parts identification............................................................................................................................1 -11
1.8 Configuration including auxiliary equipment...........................................................................................1 -12
2. INSTALLATION 2 - 1 to 2 - 6
2.1 Installation direction and clearances .......................................................................................................2 - 3
2.2 Keep out foreign materials.......................................................................................................................2 - 4
2.3 Cable stress .............................................................................................................................................2 - 5
2.4 Inspection items .......................................................................................................................................2 - 5
2.5 Parts having service lives ........................................................................................................................2 - 6
3. SIGNALS AND WIRING 3 - 1 to 3 -64
3.1 Input power supply circuit ........................................................................................................................3 - 3
3.2 I/O signal connection example ................................................................................................................3 - 6
3.2.1 Position control mode........................................................................................................................3 - 6
3.2.2 Speed control mode..........................................................................................................................3 - 8
3.2.3 Torque control mode........................................................................................................................3 -10
3.3 Explanation of power supply system......................................................................................................3 -12
3.3.1 Signal explanations..........................................................................................................................3 -12
3.3.2 Power-on sequence.........................................................................................................................3 -13
3.3.3 CNP1, CNP2, CNP3 wiring method................................................................................................3 -15
3.4 Connectors and signal arrangements ....................................................................................................3 -20
3.5 Signal explanations.................................................................................................................................3 -23
3.6 Detailed description of the signals..........................................................................................................3 -34
3.6.1 Position control mode.......................................................................................................................3 -34
3.6.2 Speed control mode.........................................................................................................................3 -38
3.6.3 Torque control mode........................................................................................................................3 -40
3.6.4 Position/speed control change mode ..............................................................................................3 -43
3.6.5 Speed/torque control change mode ................................................................................................3 -45
3.6.6 Torque/position control change mode.............................................................................................3 -47
3.7 Alarm occurrence timing chart................................................................................................................3 -48
3.8 Interfaces.................................................................................................................................................3 -49
3.8.1 Internal connection diagram ............................................................................................................3 -49
3.8.2 Detailed description of interfaces.....................................................................................................3 -50

2
3.8.3 Source I/O interfaces .......................................................................................................................3 -55
3.9 Treatment of cable shield external conductor........................................................................................3 -56
3.10 Connection of driver and servo motor..................................................................................................3 -57
3.10.1 Connection instructions..................................................................................................................3 -57
3.10.2 Power supply cable wiring diagrams.............................................................................................3 -58
3.11 Servo motor with a lock.........................................................................................................................3 -59
3.11.1 Safety precautions .........................................................................................................................3 -59
3.11.2 Setting.............................................................................................................................................3 -59
3.11.3 Timing charts..................................................................................................................................3 -60
3.11.4 Wiring diagrams (LE-□-□series servo motor)............................................................................3 -62
3.12 Grounding..............................................................................................................................................3 -64
4. STARTUP 4 - 1 to 4 -19
4.1 Switching power on for the first time .......................................................................................................4 - 2
4.1.1 Startup procedure..............................................................................................................................4 - 2
4.1.2 Wiring check......................................................................................................................................4 - 3
4.1.3 Surrounding environment..................................................................................................................4 - 4
4.2 Startup in position control mode..............................................................................................................4 - 5
4.2.1 Power on and off procedures............................................................................................................4 - 5
4.2.2 Stop....................................................................................................................................................4 - 5
4.2.3 Test operation....................................................................................................................................4 - 6
4.2.4 Parameter setting..............................................................................................................................4 - 7
4.2.5 Actual operation ................................................................................................................................4 - 8
4.2.6 Trouble at start-up.............................................................................................................................4 - 8
4.3 Startup in speed control mode................................................................................................................4 -10
4.3.1 Power on and off procedures...........................................................................................................4 -10
4.3.2 Stop...................................................................................................................................................4 -11
4.3.3 Test operation...................................................................................................................................4 -12
4.3.4 Parameter setting.............................................................................................................................4 -13
4.3.5 Actual operation ...............................................................................................................................4 -14
4.3.6 Trouble at start-up............................................................................................................................4 -14
4.4 Startup in torque control mode ...............................................................................................................4 -15
4.4.1 Power on and off procedures...........................................................................................................4 -15
4.4.2 Stop...................................................................................................................................................4 -16
4.4.3 Test operation ..................................................................................................................................4 -17
4.4.4 Parameter setting.............................................................................................................................4 -18
4.4.5 Actual operation ...............................................................................................................................4 -19
4.4.6 Trouble at start-up............................................................................................................................4 -19
5. PARAMETERS 5 - 1 to 5 -57
5.1 Basic setting parameters (No.PA )....................................................................................................5 - 2
5.1.1 Parameter list ....................................................................................................................................5 - 2
5.1.2 Parameter write inhibit ......................................................................................................................5 - 3
5.1.3 Selection of control mode .................................................................................................................5 - 4
5.1.4 Selection of regenerative option.......................................................................................................5 - 5
5.1.5 Using absolute position detection system........................................................................................5 - 6

3
5.1.6 Using electromagnetic brake interlock (MBR)..................................................................................5 - 6
5.1.7 Number of command input pulses per servo motor revolution........................................................5 - 7
5.1.8 Electronic gear...................................................................................................................................5 - 8
5.1.9 Auto tuning .......................................................................................................................................5 -12
5.1.10 In-position range ............................................................................................................................5 -13
5.1.11 Torque limit.....................................................................................................................................5 -14
5.1.12 Selection of command pulse input form........................................................................................5 -15
5.1.13 Selection of servo motor rotation direction....................................................................................5 -16
5.1.14 Encoder output pulse.....................................................................................................................5 -16
5.2 Gain/filter parameters (No. PB ).......................................................................................................5 -18
5.2.1 Parameter list ...................................................................................................................................5 -18
5.2.2 Detail list ...........................................................................................................................................5 -20
5.2.3 Position smoothing...........................................................................................................................5 -31
5.3 Extension setting parameters (No. PC )..........................................................................................5 -32
5.3.1 Parameter list ...................................................................................................................................5 -32
5.3.2 List of details.....................................................................................................................................5 -33
5.3.3 Analog monitor .................................................................................................................................5 -43
5.3.4 Alarm history clear............................................................................................................................5 -46
5.4 I/O setting parameters (No. PD )......................................................................................................5 -47
5.4.1 Parameter list ...................................................................................................................................5 -47
5.4.2 List of details.....................................................................................................................................5 -48
5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern...................................5 -57
6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -23
6.1 Overview...................................................................................................................................................6 - 2
6.2 Display sequence.....................................................................................................................................6 - 3
6.3 Status display...........................................................................................................................................6 - 4
6.3.1 Display transition...............................................................................................................................6 - 4
6.3.2 Display examples..............................................................................................................................6 - 5
6.3.3 Status display list...............................................................................................................................6 - 6
6.3.4 Changing the status display screen..................................................................................................6 - 7
6.4 Diagnostic mode ......................................................................................................................................6 - 8
6.5 Alarm mode.............................................................................................................................................6 -10
6.6 Parameter mode .....................................................................................................................................6 -12
6.6.1 Parameter mode transition...............................................................................................................6 -12
6.6.2 Operation example...........................................................................................................................6 -13
6.7 External I/O signal display ......................................................................................................................6 -15
6.8 Output signal (DO) forced output............................................................................................................6 -18
6.9 Test operation mode...............................................................................................................................6 -19
6.9.1 Mode change....................................................................................................................................6 -19
6.9.2 JOG operation..................................................................................................................................6 -20
6.9.3 Positioning operation........................................................................................................................6 -21
6.9.4 Motor-less operation ........................................................................................................................6 -23
7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -11
7.1 Different adjustment methods..................................................................................................................7 - 2

4
7.1.1 Adjustment on a single driver ...........................................................................................................7 - 2
7.1.2 Adjustment using software (MR Configurator2TM)............................................................................7 - 3
7.2 Auto tuning ...............................................................................................................................................7 - 4
7.2.1 Auto tuning mode..............................................................................................................................7 - 4
7.2.2 Auto tuning mode basis ....................................................................................................................7 - 5
7.2.3 Adjustment procedure by auto tuning...............................................................................................7 - 6
7.2.4 Response level setting in auto tuning mode ....................................................................................7 - 7
7.3 Manual mode 1 (simple manual adjustment)..........................................................................................7 - 8
7.4 Interpolation mode ..................................................................................................................................7 -11
8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 1 to 8 -18
8.1 Function block diagram............................................................................................................................8 - 2
8.2 Adaptive filter ........................................................................................................................................8 - 2
8.3 Machine resonance suppression filter.....................................................................................................8 - 5
8.4 Advanced vibration suppression control.................................................................................................8 - 7
8.5 Low-pass filter .........................................................................................................................................8 -11
8.6 Gain changing function...........................................................................................................................8 -11
8.6.1 Applications ......................................................................................................................................8 -11
8.6.2 Function block diagram....................................................................................................................8 -12
8.6.3 Parameters.......................................................................................................................................8 -13
8.6.4 Gain changing procedure.................................................................................................................8 -15
8.7 Vibration suppression control filter 2 ......................................................................................................8 -17
9. TROUBLESHOOTING 9 - 1 to 9 -26
9.1 Alarms and warning list............................................................................................................................9 - 2
9.2 Remedies for alarms................................................................................................................................9 - 3
9.3 Remedies for warnings...........................................................................................................................9 -16
9.4 Troubles without an alarm/warning ........................................................................................................9 -18
10. OUTLINE DRAWINGS 10- 1 to 10- 5
10.1 Driver.....................................................................................................................................................10- 2
10.2 Connector..............................................................................................................................................10- 4
11. CHARACTERISTICS 11- 1 to 11 - 7
11.1 Overload protection characteristics......................................................................................................11- 2
11.2 Power supply equipment capacity and generated loss .......................................................................11- 3
11.3 Dynamic brake characteristics..............................................................................................................11- 5
11.3.1 Dynamic brake operation...............................................................................................................11- 5
11.3.2 The dynamic brake at the load inertia moment.............................................................................11- 6
11.4 Cable flexing life....................................................................................................................................11- 7
11.5 Inrush currents at power-on of main circuit and control circuit............................................................11- 7
12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12 -36
12.1 Cable/connector sets............................................................................................................................12- 2

5
12.1.1 Combinations of cable/connector sets ..........................................................................................12- 3
12.1.2 Encoder cable ................................................................................................................................12- 5
12.1.3 Motor cables...................................................................................................................................12- 7
12.1.4 Lock cables.....................................................................................................................................12- 9
12.2 Regenerative options...........................................................................................................................12-10
12.3 Set up software(MR Configurator2TM).................................................................................................12-13
12.3.1 Specifications ................................................................................................................................12-13
12.3.2 System configuration.....................................................................................................................12-14
12.3.3 Precautions for using USB communication function....................................................................12-16
12.4 Battery unit LEC-MR-J3BAT................................................................................................................12-17
12.5 Selection example of wires..................................................................................................................12-18
12.6 No-fuse breakers, fuses, magnetic contactors ...................................................................................12-21
12.7 Noise reduction techniques .................................................................................................................12-22
12.8 Leakage current breaker......................................................................................................................12-30
12.9 EMC filter (recommended) ..................................................................................................................12-32
13. COMMUNICATION FUNCTION 13- 1 to 13-35
13.1 Configuration.........................................................................................................................................13- 2
13.2 Communication specifications..............................................................................................................13- 4
13.2.1 Communication overview...............................................................................................................13- 4
13.2.2 Parameter setting...........................................................................................................................13- 5
13.3 Protocol .................................................................................................................................................13- 6
13.3.1 Transmission data configuration....................................................................................................13- 6
13.3.2 Character codes.............................................................................................................................13- 7
13.3.3 Error codes.....................................................................................................................................13- 8
13.3.4 Checksum.......................................................................................................................................13- 8
13.3.5 Time-out..........................................................................................................................................13- 9
13.3.6 Retry ...............................................................................................................................................13- 9
13.3.7 Initialization....................................................................................................................................13-10
13.3.8 Communication procedure example.............................................................................................13-10
13.4 Command and data No. list.................................................................................................................13-11
13.4.1 Read commands...........................................................................................................................13-11
13.4.2 Write commands ...........................................................................................................................13-15
13.5 Detailed explanations of commands...................................................................................................13-17
13.5.1 Data processing ............................................................................................................................13-17
13.5.2 Status display................................................................................................................................13-19
13.5.3 Parameters....................................................................................................................................13-20
13.5.4 External I/O signal statuses (DIO diagnosis) ...............................................................................13-23
13.5.5 Input device ON/OFF....................................................................................................................13-26
13.5.6 Disable/enable of I/O devices (DIO).............................................................................................13-26
13.5.7 Input devices ON/OFF (test operation) ........................................................................................13-27
13.5.8 Test operation mode.....................................................................................................................13-28
13.5.9 Output signal pin ON/OFF output signal (DO) forced output.......................................................13-31
13.5.10 Alarm history ...............................................................................................................................13-32
13.5.11 Current alarm ..............................................................................................................................13-33
13.5.12 Other commands.........................................................................................................................13-34

6
14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-66
14.1 Outline ...................................................................................................................................................14- 2
14.1.1 Features..........................................................................................................................................14- 2
14.1.2 Restrictions.....................................................................................................................................14- 3
14.2 Specifications........................................................................................................................................14- 4
14.3 Battery replacement procedure............................................................................................................14- 5
14.3.1 When replacing battery with the control circuit power ON............................................................14- 5
14.4 Battery installation procedure...............................................................................................................14- 5
14.5 Standard connection diagram...............................................................................................................14- 6
14.6 Signal explanation.................................................................................................................................14- 7
14.7 Startup procedure .................................................................................................................................14- 8
14.8 Absolute position data transfer protocol...............................................................................................14- 9
14.8.1 Data transfer procedure.................................................................................................................14- 9
14.8.2 Transfer method............................................................................................................................14-10
14.8.3 Home position setting....................................................................................................................14-21
14.8.4 Use of servo motor with a lock......................................................................................................14-23
14.8.5 How to process the absolute position data at detection of stroke end........................................14-25
14.9 Examples of use...................................................................................................................................14-26
14.9.1 MELSEC FX(2N)-32MT (FX(2N)-1PG)...........................................................................................14-26
14.9.2 MELSEC A1SD75.........................................................................................................................14-38
14.9.3 MELSEC QD75.............................................................................................................................14-51
14.10 Absolute position data transfer errors ...............................................................................................14-59
14.10.1 Corrective actions .......................................................................................................................14-59
14.10.2 Error resetting conditions............................................................................................................14-61
14.11 Communication-based ABS transfer system....................................................................................14-62
14.11.1 Serial communication command ................................................................................................14-62
14.11.2 Absolute position data transfer protocol.....................................................................................14-62
14.12 Confirmation of absolute position detection data..............................................................................14-66
15. SERVO MOTOR 15- 1 to 15- 6
15.1 Servo motor with a lock.........................................................................................................................15- 2
15.1.1 Features..........................................................................................................................................15- 2
15.1.2 Characteristics of servo motor with a lock.....................................................................................15- 4
15.2 Protection from oil and water........................................................................................................ 15- 5
15.3 Cable............................................................................................................................................. 15- 5
15.4 Rated speed of servo motor ......................................................................................................... 15- 5
15.5 Mounting connectors .................................................................................................................... 15- 6
APPENDIX App.- 1 to App.-13
App. 1 Parameter list..................................................................................................................................App.- 2
App. 2 Signal layout recording paper ........................................................................................................App.- 4
App. 3 Status display block diagram .........................................................................................................App.- 5
App. 4 Handling of AC driver batteries for the United Nations
Recommendations on the Transport of Dangerous Goods..........................................................App.- 6
App. 5 Symbol for the new EU Battery Directive ......................................................................................App.- 6

7
App. 6 Compliance with the European EC directives...............................................................................App.- 7
App. 7 Conformance with UL/C-UL standard.......................................................................................... App.-10

1 -1
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION..........................................................................................................2
1.1 Summary..................................................................................................................................................2
1.2 Function block diagram............................................................................................................................3
1.3 Driver standard specifications..................................................................................................................4
1.4 Function list..............................................................................................................................................5
1.4.1 Applicable control mode for each actuator........................................................................................7
1.5 Model code definition...............................................................................................................................8
1.6 Combination with servo motor ...............................................................................................................10
1.7 Structure.................................................................................................................................................11
1.7.1 Parts identification...........................................................................................................................11
1.8 Configuration including auxiliary equipment ..........................................................................................12

1 -2
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it
is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
As this new series has the USB or RS-422 serial communication function, a set up software
(MR Configurator2TM) installed personal computer or the like can be used to perform parameter setting, test
operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The LECSB□-□series servo motor with an absolute position encoder which has the resolution of 262144
pulses/rev to ensure. Simply adding a battery to the driver makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
(1) Position control mode
An up to 1Mpps high-speed pulse train is used to control the speed and direction of a motor and execute
precision positioning of 262144 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so a
smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the driver by the clamp circuit to protect the power transistor in the main circuit
from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be
changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to 10VDC) or parameter-driven internal speed command (max. 7
speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external analog
speed command.
(3) Torque control mode
An external analog torque command (0 to 8VDC) is used to control the torque output by the servo motor.
To prevent unexpected operation under no load, the speed limit function (external or internal setting) is also
available for application to tension control, etc.

1 -3
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) LECSB□-□
CD
L11
CN5 CN3 CN6
I/F
USB RS-422 D/AA/D
USB RS-422
CN4
MR-J3BAT
CN1
P1P2P( ) N( )
B
NFB
(Note 2)
Power
supply
MC
RA
24VDC
B1
B2
L1
L2
L3
L21
Servo amplifier
U
V
W
U
V
W
Diode
stack
Regenerative
option
Power factor
improving DC
reactor
CHARGE
lamp
Regene-
rative TR
(Note 1)
Current
detector M
Servo motor
Dynamic
brake circuit Electro-
magnetic
brake
Encoder
Base
amplifier Voltage detection Overcurrent
protection Current
detection
Control
circuit
power
supply
(Note 3) Cooling fan
Relay
Pulse input Model position
control Model speed
control
Virtual
encoder
Virtual
motor
Model
position Model
speed Model torque
Actual position
control Actual speed
control Current control
Optional battery
(for absolute position
detection system)
Analog monitor
(2 channels)
Personal
computer
D I/O control
Servo on
Command pulse train input
Start
Failure, etc.
Analog
(2 channels) Controller
CN2
Note 1. The built-in regenerative resistor is not provided for the LECSB1-S5.
2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
There is no L3for 1-phase 100 to 120VAC power supply. For the specification of power supply, refer to section 1.3.
Lock
LEC-MR-J3BAT
Driver